CN211806149U

CN211806149U - Module unit and modular robot

Info

Publication number: CN211806149U
Application number: CN202020031990.6U
Authority: CN
Inventors: 杨健勃
Original assignee: Beijing Keyi Technology Co Ltd
Current assignee: Beijing Keyi Technology Co Ltd
Priority date: 2020-01-07
Filing date: 2020-01-07
Publication date: 2020-10-30
Anticipated expiration: 2030-01-07

Abstract

The utility model relates to an electron product field especially relates to a modular unit and modular robot, modular unit is the spheroid, modular unit includes two rotation portions that are the hemisphere, be equipped with an at least buckle spare in the rotation portion, process the perpendicular line of connecting the face with the axis of rotation portion is crossing, and crossing contained angle is 45. The modular robot comprises at least two module units, and the two module units are spliced through the buckle piece. The utility model provides a modular unit and modular robot have advantages such as reduce the degree of freedom coupling.

Description

Module unit and modular robot

[ technical field ] A method for producing a semiconductor device

The utility model relates to an electronic product technical field especially relates to a modular unit and modular robot.

[ background of the invention ]

A plurality of fasteners are integrated on the existing module units, splicing is realized between the module units through the fasteners, and when a rotating shaft between any two module units is spliced in the parallel or vertical direction and the two module units are in positive and negative connection, the whole modularized robot has coupling with overlarge degree of freedom.

[ Utility model ] content

The too big defect of degree of freedom when splicing for overcoming current modular unit, the utility model provides a modular unit and modular robot.

In order to solve the technical problem, the utility model provides a technical scheme as follows: the utility model provides a modular unit, modular unit is the spheroid, modular unit includes two rotation portions that are the hemisphere type, be equipped with an at least buckle spare in the rotation portion, pass through the center of buckle spare and perpendicular to connect the perpendicular line of face with the axis of rotation portion is crossing, and crossing contained angle is 45.

Preferably, the number of the fasteners is even, and the fastener setting positions of the two rotating parts are mirror symmetry with the interface of the two rotating parts as a reference.

Preferably, the module unit further comprises a servo device capable of driving at least one of the rotating parts to rotate;

preferably, the servo device comprises a controller and at least two speed sensors, and the speed sensors sense the relative position, speed and moment of the two rotating parts and transmit the relative position, speed and moment to the controller.

Preferably, the servo device includes an angle sensor disposed in any one of the rotating portions and a magnet corresponding to the angle sensor, and when the two rotating portions rotate, the magnet may rotate relative to the angle sensor, and rotation information between the two rotating portions is detected by detecting a rotation angle between the magnet and the angle sensor and transmitted to the controller.

Preferably, the servo device further comprises a driving motor, the driving motor is arranged between any one of the rotating parts, and the controller controls the rotating speed of the driving motor based on the rotation angle information detected by the angle sensor and a target angle command.

Preferably, the servo device comprises at least two speed sensors and a magnetic part coaxially connected with the driving motor, the speed sensors are arranged in the circumferential direction of the magnetic part relatively, and the speed sensors are used for detecting the change of the magnetic poles of the magnetic part so as to calculate the rotating speed of the driving motor and judge the positive and negative rotation of the driving motor.

Preferably, the buckle part is provided with a first contact, and signal communication can be realized through the contact of the first contact and a corresponding contact of the external module.

In order to solve the technical problem, the utility model provides a modular robot, it includes as above-mentioned two at least modular unit, two pass through between the modular unit the concatenation is realized to buckle spare.

Preferably, the modular robot further includes a buckle assembly, the buckle assembly includes a first buckle portion and a second buckle portion which are oppositely disposed, and the two module units are spliced by the buckle assembly, wherein one module unit is connected to the first buckle portion, and the other module unit is connected to the second buckle portion.

Compared with the prior art, the utility model provides a modular unit and modular robot has following beneficial effect:

1. the utility model provides a modular unit, modular unit is the spheroid, modular unit includes two rotation portions that are the hemisphere type, be equipped with an at least buckle spare in the rotation portion, pass through the center of buckle spare and perpendicular to connect the perpendicular line of face with the axis of rotation portion is crossing, and crossing contained angle is 45. When the rotating shafts of the two module units are parallel or vertical, splicing can be realized, and the coupling of the degrees of freedom between the mutually spliced module units can be reduced.

2. The number of the buckling pieces is even, and the buckling piece arrangement positions of the two rotating parts are mirror symmetry by taking the interface of the two rotating parts as a reference. The buckle piece is provided with a first contact, and signal communication can be realized through the contact between the first contact and the corresponding contact of the external module. The transmission of signals between the module units can be realized.

3. The servo device comprises a controller and at least two sensors, the sensors are used for sensing the relative positions, the speeds and the moments of the two rotating parts, and the controller is used for controlling the positions, the speeds and the moments. The angle, the rotating speed and the moment in the module unit of the servo device are controlled to realize the transmission control among a plurality of module units, so that different motion mechanisms can be formed.

4. The servo device comprises a position sensor arranged in any rotating part and a magnet corresponding to the position sensor, when the two rotating parts rotate, the magnet can rotate relative to the position sensor, and rotation information between the two rotating parts is detected by detecting the rotation angle between the magnet and the position sensor and is transmitted to the controller. The rotation angle of the magnet is detected through the position sensor so as to obtain rotation information, the rotation angle detection device is convenient and practical, the size of the whole module unit can be reduced, and the design is small and exquisite.

5. The servo device comprises at least two magnetic sensors and a magnetic part coaxially connected with the driving motor, the magnetic sensors are arranged in the circumferential direction of the magnetic part relatively, and the magnetic sensors are used for detecting the change of the magnetic poles of the magnetic part so as to calculate the rotating speed of the driving motor and judge the positive and negative rotation of the driving motor. The rotating speed of the driving motor is measured more accurately by adopting the design, and the positive and negative rotation of the driving motor can be judged so as to obtain the rotating relation between the module units.

6. The perpendicular line passing through the center of the clamping piece and perpendicular to the plane where the clamping piece is located is intersected with the rotation perpendicular bisector of the rotating part, and the intersected included angle is 45 degrees. When the rotating shafts of the two module units are parallel or vertical, splicing can be realized, and the coupling of the degrees of freedom between the mutually spliced module units can be reduced.

7. The modular robot comprises at least two module units, and the two module units are spliced through the fastener. The module units are directly spliced through the clamping pieces on the module units, and the module units are convenient to mount and dismount.

8. The modularized robot further comprises a buckle assembly, the buckle assembly comprises a first buckle part and a second buckle part which are arranged oppositely, the two module units are spliced through the buckle assembly, one module unit is connected to the first buckle part, and the other module unit is connected to the second buckle part. The module units are indirectly spliced through the buckle assembly, the transmission performance is good, and the module units are suitable for a movement mechanism formed by combining the module units with high speed and high frequency.

[ description of the drawings ]

Fig. 1 is a schematic perspective view of a modular robot according to a first embodiment of the present invention;

FIG. 2-A is a front view of a modular unit according to a first embodiment of the present invention;

FIG. 2-B is a schematic view of the connection of two modular units according to the first embodiment of the present invention;

FIG. 2-C is another schematic connection diagram of two modular units according to the first embodiment of the present invention;

fig. 3 is an exploded view of a module unit according to a first embodiment of the present invention;

fig. 4 is an exploded view of the first rotating member according to the first embodiment of the present invention;

fig. 5 is a schematic perspective view of a connecting member according to a first embodiment of the present invention;

fig. 6 is an exploded view of the surface fastener according to the first embodiment of the present invention;

fig. 7-a is a schematic perspective view of a snap connection according to a first embodiment of the present invention;

FIG. 7-B is another perspective view of the snap connection of the first embodiment of the present invention;

figure 8 is a front view of a snap connection in a first embodiment of the invention;

FIG. 9-A is a rear view of the connection of two snap connectors in a first embodiment of the present invention;

FIG. 9-B is a cross-sectional view taken along A-A of FIG. 9-A;

FIG. 10-A is a rear view of the connection of two snap connectors in a first embodiment of the present invention;

FIG. 10-B is a cross-sectional view taken along line C-C of FIG. 10-A;

fig. 11 is an exploded view of the transmission assembly of the first embodiment of the present invention;

fig. 12 is an exploded view of the rotating assembly of the first embodiment of the present invention;

fig. 13 is a schematic perspective view of a magnetic member according to a first embodiment of the present invention;

fig. 14 is an exploded view of the connecting assembly of the first embodiment of the present invention;

fig. 15 is a top view of a coupling assembly according to a first embodiment of the present invention;

FIG. 16 is a cross-sectional view taken along line B-B of FIG. 15;

fig. 17 is a schematic perspective view of a modular robot according to a second embodiment of the present invention;

fig. 18 is an exploded view of the buckle assembly according to the second embodiment of the present invention;

fig. 19 is a schematic perspective view of a rotary joint according to a second embodiment of the present invention;

fig. 20 is a schematic perspective view of a first fastening portion according to a second embodiment of the present invention;

fig. 21 is another schematic perspective view of the first fastening portion in the second embodiment of the present invention;

fig. 22 is a schematic perspective view of a module unit connected to a buckle assembly according to a second embodiment of the present invention;

fig. 23 is an exploded view of a servo system for positioning a modular unit according to a third embodiment of the present invention;

fig. 24 is a flowchart illustrating a control method of the modular unit position servo system according to the fourth embodiment of the present invention.

Description of reference numerals:

01. a modular robot; 10. a module unit; 20. a first rotating section; 22. a transmission assembly; 23. a protective cover; 24. a transmission member; 241. a drive motor; 242. a bevel gear; 243. A magnetic member; 244. a speed sensor; 245. mounting a plate; 25. a rotating assembly; 251. a connecting plate; 252. a gear ring; 253. a mounting frame; 254. a rotating frame; 255. a ball bearing; 30. A second rotating part; 32. a connecting assembly; 321. a second PCB board; 322. a conductive ring seat; 323. a slip ring; 324. a magnet; 325. a position sensor; 40. a first rotating member; 41. A housing; 411. a first through hole; 42. surface buckling; 421. a first PCB board; 4211. an LED light source; 4212. a first electrical connection; 4213. a middle through hole; 422. a snap connection; 4221. a first connection block; 4222. a first accommodation hole; 4223. a first bump; 423. a shielding sheet; 424. a first fastening block; 4241. a connection bump; 4242. a first clamping block; 425. A second fastening block; 4251. a groove; 4252. a second clamping block; 426. a buckle connection surface; 427. a buckle mounting surface; 428. a fastener; 429. a side hole; 430. a buckle connection hole; 43. a connecting member; 431. a second through hole; 432. a receiving member; 4321. accommodating grooves; 433. a holding member; 50. a second rotating member; 100. a buckle assembly; 101. a first fastening part; 102. a second fastening part; 103. a rotation connection part; 104. connecting the shell; 105. fixing the core; 106. rotating the hole; 107. a second accommodation hole; 108. a card slot; 109. a limiting bulge; 110. a second connecting block; 111. a second electrical connection; 112. a locking member; 113. a housing hole; 114. rotating the limiting hole; 1141. a receiving end; 1142. a clamping end; 115. a clamping and connecting plate; 116. a third clamping block; 117. a fastener; 118. clamping; 119. a dimple hole; 120. an accommodating space; 130. a clamping piece; 141. a first connecting shaft; 142. a second connecting shaft; 200. a modular unit position servo system; 201. a rotating part; 202. a position sensor; 203. a magnet; 204. a controller; 210. a kinematic pair; 211. a transmission assembly; 212. A connecting assembly is provided.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Referring to fig. 1 and 2-a, the present invention provides a modular robot 01, where the modular robot 01 includes at least one module unit 10, any two module units 10 may be directly or indirectly connected to form a movement mechanism, and different connection modes between the

module units

10 and 10 may reconfigure the modular robot 01 in different configurations. The modular unit 10 includes a first rotating portion 20, a second rotating portion 30 rotatably connected to the first rotating portion 20, the first rotating portion 20 and the second rotating portion 30 can rotate relatively to realize different motion states of the modular robot 01, the modular unit 10 is a sphere, the first rotating portion 20 and the second rotating portion 30 are hemispheric, and can drive at least one servo device (not shown) for rotating the rotating portions, the rotating portions can be any one of the first rotating portion 20 or the second rotating portion 30, the servo device includes a controller and at least two sensors, the sensors are used for sensing the relative positions, speeds and moments of the first rotating portion 20 and the second rotating portion 30, and the controller is used for controlling the positions, speeds and moments.

Referring to fig. 3, the first rotating portion 20 includes a first rotating member 40, and the transmission assembly 22 is accommodated in the first rotating member 40, and the first rotating member 40 is a hemispherical structure. The second rotating part 30 includes a second rotating member 50, and a connecting assembly 32 received in the second rotating member 50. The first rotating member 40 is identical in structure to the second rotating member 50. The transmission assembly 22 is connected with the connection assembly 32, and the first rotating member 40 is connected with the second rotating member 50 to form an accommodating space for accommodating the transmission assembly 22 and the connection assembly 32.

Referring to fig. 4 and 5, the first rotating member 40 includes a hollow housing 41, a connecting member 43 accommodated in the housing 41, and at least one latch 42 connected to the connecting member 43. The casing 41 is of a hemispherical structure, the casing 41 is provided with first through holes 411 for the surface fasteners 42 to penetrate through, the number of the first through holes 411 corresponds to the number of the surface fasteners 42, the surface fasteners 42 penetrate through the first through holes 411 and are connected with the connecting piece 43, and the connecting piece 43 is accommodated in the casing 41.

The connecting piece 43 corresponds to the shape and structure of the housing 41, a second through hole 431 is provided at a position of the connecting piece 43 corresponding to the first through hole 411, and the surface fastener 42 sequentially penetrates through the first through hole 411 and the second through hole 431. The inner wall of the second through hole 431 extends to form an annular accommodating part 432, a plurality of accommodating grooves 4321 are formed in the accommodating part 432, and the accommodating grooves 4321 are annularly distributed and connected with the surface fastener 42.

A supporting member 433 is disposed between the two second through holes 431, the supporting member 433 is formed to protrude toward the connecting member 32, and when the connecting member 32 is accommodated in the connecting member 43, the supporting member 433 is connected to the connecting member 32 in a supporting manner.

Referring to fig. 6, the surface fastener 42 includes a fastener connecting surface 426 and a fastener mounting surface 427 disposed opposite to the fastener connecting surface 426, the surface fastener 42 includes a first PCB 421 connected to the receiving groove 4321, a fastener connecting member 422 connected to the first PCB 421, and a shielding piece 423 disposed between the fastener connecting member 422 and the first PCB 421, and the fastener connecting member 422 is connected to another fastener connecting member 422. First PCB 421 one end with buckle connecting piece 422 can dismantle the connection, the other end with coupling assembling 32 electric connection, first PCB 421 court the annular is provided with a plurality of LED light sources 4211 on one side of buckle connecting piece 422, and when face buckle 42 is connected with connecting piece 43, a plurality of LED light sources 4211 correspond and hold in the holding tank 4321. The plurality of LED light sources 4211 provide a light source display for the module unit 10 to visually display the operating state of the module unit 10 to a user in real time. The shielding piece 423 is a hollow structure for the buckle connector 422 and the first PCB 421 to penetrate through, and the shielding piece 423 is placed on the LED light source 4211 to contact with the LED light source 4211 to prevent light leakage of the LED light source 4211.

At least two edge holes 429 are formed in the edge of the fastening installation surface 427, and a fastener is driven between the first PCB 421 and the fastening installation surface 427 through the edge holes 429 to realize fixation. Be provided with two at least first electric connector 4212 on the central point of first PCB board 421, the one end of first electric connector 4212 is worn to establish in proper order first PCB board 421, shielding piece 423 and with buckle connector 422 is connected, the other end of first electric connector 4212 with coupling assembling 32 electric connection, first electric connector 4212 is used for providing the transmission of signal between the module unit 10 of a plurality of concatenations, can pass through first electric connector 4212 and external module's corresponding electric connector contact, can realize signal communication. The first electrical connector 4212 is a copper pillar and plays a role of conductive transmission, and in this embodiment, the first electrical connector 4212 is an electrical connector. Still be provided with two middle through-holes 4213 on the first PCB board 421, middle through-hole 4213 with buckle connecting piece 422 is corresponding, and accessible fastener (not mark) wears to establish middle through-hole 4213 in order to realize first PCB board 421 with buckle connecting piece 422's connection, through adjusting the fastener and then adjusts the elasticity degree that first PCB board 421 and buckle connecting piece 422 are connected, can also adjust the lock dynamics between two buckle connecting pieces 422. In the present embodiment, the number of the first electrical connection members 4212 is three.

Referring to fig. 6, 7-a and 7-B, a center of the snap connector 422 extends to a side away from the first PCB 421 to form a first cylindrical connector block 4221, the first connector block 4221 is provided with at least two first accommodating holes 4222, the number of the first accommodating holes 4222 corresponds to the number of the first electrical connectors 4212 and accommodates the first electrical connectors 4212, and the first electrical connectors 4212 are exposed out of the snap connector surface 426 through the first accommodating holes 4222. The outer wall of the first link 4221 extends in a cross direction to form four first protrusions 4223, and a gap is left between the first protrusions 4223 and the snap-fit link 422 to form a space. Preferably, the number of the first accommodation holes 4222 is three.

Referring to fig. 7-a, 7-B and 8, a first fastening block 424 and a second fastening block 425 are respectively disposed on two opposite sides of the fastening connector 422 corresponding to the extending direction of the first bump 4223, the first fastening block 424, the second fastening block 425 and the first connecting block 4221 are formed on the fastening connecting surface 426, the first fastening block 424 and the second fastening block 425 are disposed around the first connecting block 4221, the first fastening block 424 and the second fastening block 425 can deform after being stressed, the middle through hole 4213 corresponds to the first fastening block 424, and the first fastening block 424 is accommodated in the middle through hole 4213. The first fastening block 424 and the second fastening block 425 respectively extend away from the first PCB 421, and a gap space is left between the first fastening block 424 and the first bump 4223 and between the second fastening block 425 and the first bump 4223, and the first fastening block 424 and the second fastening block 425 are disposed around the first connecting block 4221. The first fastening block 424 is extended along a side away from the first connecting block 4221 to form a connecting protrusion 4241, a side of the second fastening block 425 close to the first connecting block 4221 is recessed to form a groove 4251, the connecting protrusion 4241 corresponds to the groove 4251 and is arc-shaped, and a connecting line between the corresponding connecting protrusion 4241 and the groove 4251 is arranged in a cross direction. When the two module units 10 are connected, the first fastening block 424 and the second fastening block 425 are correspondingly matched and connected, the connection protrusion 4241 is abutted against the groove 4251, a plane is defined among the first connection block 4221, the first fastening block 424 and the second fastening block 425, and a gap is formed between the first protrusion 4223 and the plane so as to allow the peripheral fastening assembly (not shown) to be placed in.

The buckle mounting surface 427 is provided with two buckle connection holes 430, the buckle connection holes 430 are matched with the first buckling block 424, the buckle connection holes 430 are correspondingly arranged at the positions of the connection protrusions 4241, the buckle connection holes 430 extend into the first buckling block 424, and a fastener can be driven into the buckle connection holes 430 to control the buckling strength between the two surface buckles 42 according to the driving depth of the fastener.

Referring to fig. 7-a, one side of the first fastening block 424, which is away from the first connecting block 4221, protrudes to form a first clamping block 4242, one side of the second fastening block 425, which is close to the first connecting block 4221, is recessed to form a second clamping block 4252, the first clamping block 4242 and the second clamping block 4252 are disposed on one side, which is away from the first PCB, the first clamping block 4242 and the second clamping block 4252 respectively form a T shape with the connecting protrusion 4241 and the groove 4251, and the first clamping block 4242 and the second clamping block 4252 are disposed in an arc shape. Referring to fig. 8, 9-a and 9-B, taking the two snap connectors as an example of the matching connection, when the connecting protrusion 4241 is in interference fit with the corresponding groove 4251, the first clamping block 4242 is elastically abutted against the second clamping block 4252, so as to realize the matching connection between the two module units 10.

Referring to fig. 10-a and 10-B in combination with fig. 7-a and 7-B, a fastener 428 is inserted into the middle through hole 4213 and the buckle connection hole 430 to connect the first PCB 421 and the buckle connection member 422, the fastener 428 is inserted into the middle through hole 4213 and is accommodated in the buckle connection hole 430, and during the buckling process of the surface buckle 42, the first buckling block 424, which is driven into the fastener 428, deforms toward the first connection block 4221, so that the first buckling block 4242 is buckled with the second buckling block 4252; when the two surface fasteners 42 need to be separated, the first fastening block 424 driven into the fastener 428 is deformed to the side away from the first connecting block 4221 again due to the matched arc surface between the first fastening block 4242 and the second fastening block 4252. When the fastener 428 is driven to be tight, the first fastening block 424 is difficult to deform, and the two surface fasteners 42 are difficult to separate, and when the fastener 428 is driven to be loose, the first fastening block 424 is easy to deform, and the two surface fasteners 42 are easy to separate. By adopting the design, the mutually connected surface buckles 42 are easy to install and connect, the mutually connected surface buckles 42 are difficult to disassemble, and the effect that the surface buckles 42 are easy to assemble and difficult to disassemble is realized. When modular units 10 are spliced together, first electrical connections 4212 between modular units 10 contact each other to enable signal transmission.

Referring to fig. 11, the transmission assembly 22 includes a transmission member 24, a rotation assembly 25, and a protection cover 23 connected to the rotation assembly 25, the protection cover 23 is connected to the connecting member 43 of the first rotation member 40, and the rotation assembly 25 is connected to the protection cover 23 to form an accommodating space capable of accommodating the transmission member 24. The protective cover 23 corresponds to the transmission member 24, and when the protective cover 23 is connected to the transmission member 24, the transmission member 24 is accommodated in the protective cover 23.

As shown in fig. 11, the transmission member 24 further comprises a driving motor 241, a bevel gear 242 coaxially connected with one end of the driving motor 241, and a cylindrical magnetic member 243 coaxially connected with the other end of the driving motor 241, wherein the bevel gear 242 is rotatably connected with the rotating component 25, and the bevel gear 242 drives the rotating component 25 to rotate. That is, the servo device further includes a driving motor 241, and the driving motor 241 is disposed between any one of the rotating portions.

The transmission member 24 further includes a mounting plate 245, and at least one speed sensor 244 connected to the mounting plate 245, as shown in fig. 11, the mounting plate 245 is fixedly connected to one end of the driving motor 241, the speed sensor 244 is disposed in the circumferential direction of the magnetic member 243, and the speed sensor 244 is electrically connected to the connecting assembly 32 (shown in fig. 3). In some specific embodiments, the speed sensors 244 are hall sensors and are two in number, two speed sensors 244 are disposed opposite to the magnetic member 243 and inclined at an angle, and the angle between the two speed sensors 244 is 100-120 °; and/or the distance separation between the speed sensor 244 and the magnetic member 243 is 1-2 mm. The speed sensor 244 may calculate a rotation speed of the driving motor 241 according to a change of the magnetic pole of the magnetic member 243 and determine whether the driving motor 241 rotates forward or backward. The inclination angle is preferably 100 ° to 120 °, specifically, the inclination angle may also be 100 °, 110 °, 115 °, or the like. At this time, the projected areas of the two speed sensors 244 on the magnetic member 243 are the largest, so that the magnetic pole change on the magnetic member 243 can be measured more accurately.

Referring to fig. 12, in particular, in order to make the bevel gear 242 better drive the rotating assembly 25 to rotate, in some specific embodiments, the rotating assembly 25 includes a hollow connecting plate 251, and a gear ring 252 fixedly connected to the connecting plate 251, the gear ring 252 is disposed on a side of the connecting plate 251 close to the transmission member 24, a ring surface of the gear ring 252 without a gear is connected to the connecting plate 251, and a ring surface of the gear ring 252 with a gear is rotatably connected to the bevel gear 242. The gear ring 252 is correspondingly and cooperatively connected with the bevel gear 242 to enable the driving motor 241 to drive the rotating assembly 25 to rotate, and the connecting plate 251 is connected with the connecting member 43 on the second rotating member 50.

Referring to fig. 12 in conjunction with fig. 11, the rotating assembly 25 further includes a mounting frame 253 fixedly connected to the driving motor 241, and a rotating frame 254 rotatably connected to the mounting frame 253. The mounting bracket 253 is connected to the connecting assembly 32, and the mounting bracket 253 and the rotating bracket 254 are accommodated in the connecting plate 251. The rotating frame 254 is an annular structure, and specifically, a plurality of balls 255 are arranged on the rotating frame 254, and the plurality of balls 255 are circumferentially distributed. The rotating frame 254 is sleeved on the mounting frame 253, and the mounting frame 253 is connected with the connecting plate 251 through the balls 255 and rotates relatively. The protection cover 23 corresponds to the driving motor 241, the speed sensor 244, the magnetic member 243, and the mounting bracket 253, and the protection cover 23 accommodates the driving motor 241, the speed sensor 244, the magnetic member 243, and the mounting bracket 253. The size of the transmission assembly 22 can be reduced by adopting the design, so that the size of the whole module unit 10 is reduced, and the design is small.

With this design, when the bevel gear 242 and the gear ring 252 rotate relatively, the mounting frame 253, the driving motor 241, the protective cover 23, the gear ring 252, and the connecting plate 251 rotate relatively, the mounting frame 253 drives the connecting assembly 32 to rotate, and the protective cover 23 drives the first rotating member 40 to rotate, so as to realize the relative rotation between the first rotating member 40 and the second rotating member 50.

Referring to fig. 13, the magnetic member 243 has a plurality of magnetic poles, each of which includes an N pole and an S pole, wherein the N pole and the S pole may be distributed at intervals. When the driving motor 241 rotates to drive the magnetic member 243 and the bevel gear 242 to rotate, the bevel gear 242 drives the rotating assembly 25 to rotate, and at this time, the speed sensor 244 senses the change of the plurality of magnetic poles on the magnetic member 243 to calculate the rotating speed of the driving motor 241 and determine the forward and reverse rotation of the driving motor 241.

Referring to fig. 14, 15 and 16, the connecting assembly 32 further includes a second PCB 321 connected to a mounting frame (not shown), a conductive ring seat 322 connected to the second PCB 321, a slip ring 323 partially accommodated in the conductive ring seat 322, and a magnet 324 accommodated in the slip ring 323, wherein the slip ring 323 is sleeved on the periphery of the magnet 324, the magnet 324 abuts against the abutting member 433, and the second PCB 321 is a controller. The second PCB 321 is electrically connected to the speed sensor 244 and the driving motor 241. A position sensor 325 is arranged on the second PCB 321 at a position corresponding to the magnet 324, the position sensor 325 and the slip ring 323 rotate synchronously, and the distance between the magnet 324 and the position sensor 325 is 1mm-2 mm. The first rotating member 40 drives the slip ring 323 and the position sensor 325 to rotate relative to the magnet 324. The position sensor 325 is configured to detect a position change signal of the magnet 324 to obtain a rotation angle of the magnet 324, detect a rotation angle between the two rotation portions by detecting a rotation angle between the magnet 324 and the position sensor 325, and transmit the rotation information to the second PCB 321, and the controller is disposed on the second PCB 321, and controls the driving motor 241 to operate at a set rotation speed based on the rotation angle information detected by the position sensor 325 and a target angle command.

When the first rotating member 40 and the second rotating member 50 need to rotate relative to each other, the driving motor 241 may drive the connecting plate 251 to rotate, and then the connecting plate 251 drives the second PCB 321 fixedly connected thereto to rotate, because the conductive ring seat 322 and the slip ring 323 are sequentially fixed on the second PCB 321, the corresponding conductive ring seat 322 and the corresponding slip ring 323 also rotate, that is, the first rotating member 40 may be synchronously driven to rotate by the driving motor 241, and the conductive ring seat 322 drives the slip ring 323 to rotate relative to the magnet 324.

Meanwhile, since the magnet 324 is connected to the second rotating member 50, and since the magnet 324 is connected to the abutting member 433 in an abutting manner, the magnet 324 and the second rotating member 50 do not rotate along with the second PCB 321.

Therefore, based on the above-mentioned connection structure and linkage relationship, the first rotating member 40 and the second rotating member 50 can rotate relatively, and the relative rotation between the position sensor 325 and the magnet 324 is used to detect and obtain the relative rotation angle between the first rotating member 40 and the second rotating member 50 through the position sensor 325.

With reference to fig. 2-a, the module unit 10 includes two first rotating portions 20 and second rotating portions 30 capable of rotating relatively, where the first rotating portions 20 and the second rotating portions 30 are of a hemispherical structure, and both rotating portions rotate along a perpendicular bisector f of a hemispherical cross section; at least one buckle connecting piece 422 is arranged on one rotating part, the positions of the buckle connecting pieces 422 on the two rotating parts are in mirror symmetry by taking the hemispherical section as a reference, namely the positions of the buckle connecting pieces 422 of the two rotating parts are in mirror symmetry by taking the interface of the two rotating parts as a reference; the module units 10 are connected with each other by a group of snap connectors 422.

The snap connection piece 422 is circular, a perpendicular line e passing through the center of the snap connection piece 422 and perpendicular to the plane where the snap connection piece 422 is located intersects with the rotation perpendicular bisector f of the rotation part, and the intersection included angle is D and is 30-60 degrees. The module unit 10 is provided with an even number of snap connections 422. Optionally, in some specific embodiments, the included angle D is 45 °, please refer to fig. 2-B and fig. 2-C, at this time, when the middle rotating shafts of the two module units 10 are either parallel or perpendicular, the splicing can be realized, and the coupling of the degrees of freedom between the module units 10 spliced with each other can be reduced.

Referring to fig. 17, a second embodiment of the present invention provides a modular robot 01, where the modular robot 01 includes at least two module units 10 and a buckle assembly 100 connected to the module units 10, any two of the module units 10 can be connected to each other through the buckle assembly 100 to form a movement mechanism, and the module units 10 can be spliced to form the modular robot 01 with different structures through different connection modes of the buckle assembly 100.

The buckle assembly 100 includes a rotation connection portion 103, a first buckle portion 101 and a second buckle portion 102 detachably connected to two opposite sides of the rotation connection portion 103, and at least two second electrical connectors 111 respectively passing through the first buckle portion 101, the second buckle portion 102, and the rotation connection portion 103. The second electrical connector 111 may be any one of a copper pillar, an alloy pillar, and the like, which perform a conductive transmission function, and in this embodiment, the second electrical connector 111 is an electrical connector. The first buckling part 101 and the second buckling part 102 are in mirror image correspondence. Any one of the snap-in connectors 422 of the two module units 10 is respectively screwed and fixedly connected with the first snap-in portion 101 and the second snap-in portion 102.

The two module units 10 are spliced by the fastening assembly 100, wherein one module unit is connected to the first fastening part 101, and the other module unit is connected to the second fastening part 102.

Referring to fig. 18 and 19, the rotary connecting portion 103 includes a connecting housing 104 and a fixing core 105 disposed in the connecting housing 104, and the fixing core 105 is a circular plate-shaped structure disposed in the connecting housing 104. The fixed core 105 is recessed towards two opposite sides of the end faces of the first buckling part 101 and the second buckling part 102 to form a space for accommodating the first buckling part 101 and the second buckling part 102, and the outer peripheral walls of the first buckling part 101 and the second buckling part 102 are respectively sleeved with the inner wall of the connecting shell 104.

Any two mutually perpendicular diameter directions on the fixed core 105 are provided with a rotary hole 106, the rotary hole 106 is a waist-shaped hole, and the rotary hole 106 is arranged on the inner walls of the fixed core 105 and the connecting shell 104. A second receiving hole 107 is formed in the center of the fixed core 105, the second receiving hole 107 receives the first fastening portion 101 and the second fastening portion 102, and a second electrical connector 111 penetrates through the second receiving hole 107, in this embodiment, the number of the second electrical connectors 111 is three.

With continued reference to fig. 19, the fixing core 105 is further provided with at least one locking member 112, and the locking member 112 is disposed between the rotating hole 106 and the second receiving hole 107. The locking member 112 extends towards the first buckling part 101 and the second buckling part 102 respectively, one end of the locking member 112 close to the first buckling part 101 and the second buckling part 102 protrudes along the central axis of the second accommodating hole 107 to form a hook shape, and the locking member 112 is of an elastic structure. The locking piece 112 is rotatably matched with the first buckling part 101 and the second buckling part 102 to realize detachable connection of the first buckling part 101, the second buckling part 102 and the rotary connecting part 103. In this embodiment, the number of the locking members 112 is four and the locking members 112 are distributed on two diameters perpendicular to each other. The inner walls of the connecting shell 104 facing the first buckling part 101 and the second buckling part 102 are also provided with a clamping groove 108, the clamping groove 108 is provided with a limiting bulge 109, and the limiting bulge 109 is connected with the first buckling part 101 and the second buckling part 102.

Referring to fig. 20, the center of the first fastening portion 101 extends toward a side close to and away from the rotation connecting portion 103 to form a cylindrical second connecting block 110, the second connecting block 110 is provided with accommodating holes 113 for accommodating the second electrical connectors 111, the number of the accommodating holes 113 corresponds to the number of the second electrical connectors 111, and the second electrical connectors 111 are exposed from the accommodating holes 113. First buckle portion 101 corresponds be provided with rotatory spacing hole 114 on retaining member 112's the position, the end 1141 and the joint end 1142 of holding including interconnect of rotatory spacing hole 114 hold the end and be greater than retaining member 112's size is in order to hold retaining member 112, joint end 1142 is connected with retaining member 112 cooperation with retaining member 112's size is corresponding, retaining member 112 with joint end 1142 is interference fit, retaining member 112 passes through rotatory spacing hole 114 exposes, rotatory spacing hole 114 is circular-arc setting, please combine figure 18, rotatory hole 106 supplies first buckle portion 101, second buckle portion 102's second connecting block 110 are worn to establish.

Referring to fig. 20, a locking plate 115 is further disposed in the first locking portion 101 along a diameter direction, the locking plate 115 is disposed around the second connecting block 110, and the locking plate 115 extends toward a side away from the rotating connection portion 103. The clamping plate 115 is close to the clamping end 1142 disposed in the rotation limiting hole 114, the clamping plate 115 protrudes toward the second connecting block 110 to form a third clamping block 116, and the third clamping block 116 protrudes and extends to the clamping end 1142. When the first buckling part 101 is connected with the rotary connecting part 103, the locking part 112 correspondingly penetrates through the accommodating end 1141 of the rotary limiting hole 114, the locking part 112 correspondingly moves to the clamping end 1142 of the rotary limiting hole 114 by rotating the first buckling part 101 or the rotary connecting part 103, and the locking part 112 abuts against the third clamping block 116 to clamp the first buckling part 101 and the rotary connecting part 103.

Referring to fig. 20, a fastening member 117 is further disposed in the diameter direction of the first fastening portion 101, the fastening member 117 protrudes toward a side away from the rotary connecting portion 103, and the diameter direction of the two fastening members 117 is perpendicular to the diameter direction of the connection of the clamping plate 115. The fastening member 117 has an elastic structure, and the fastening member 117 has the same structure as the second fastening block 425 of the module unit 10, that is, the fastening member 117 corresponds to the first fastening block 424 of the module unit 10, a concave hole 119 is formed by a concave portion of one side of the fastening member 117 close to the second connecting block 110, and the concave hole 119 is disposed in an arc shape.

Referring to fig. 21, a detent 118 is disposed on a side of the first locking portion 101 facing the rotating connection portion 103, the detent 118 corresponds to the limiting protrusion 109, and the detent 118 slides on the slot 108 to abut against the limiting protrusion 109, so as to lock and connect the first locking portion 101 and the rotating connection portion 103.

The first buckling part 101 protrudes toward one side of the rotating connection part 103 to form a first connection shaft 141 and a second connection shaft 142, the first connection shaft 141 and the second connection shaft 142 of the first buckling part 101 are respectively connected with the second connection shaft 142 and the first connection shaft 141 of the second buckling part 102 correspondingly and are accommodated in the rotating hole 106, and the rotating hole 106 plays a role in guiding the first buckling part 101 and the second buckling part 102 when the first buckling part 101 and the second buckling part 102 are connected and rotate.

During assembly and use, the second electric connector 111 penetrates through the second accommodating hole 107 and is connected with the first buckling part 101 and the second buckling part 102 in a clamping manner, the locking member 112 penetrates through and is accommodated in the accommodating end 1141 of the rotation limiting hole 114 of the first buckling part 101 and the second buckling part 102 respectively, the rotation connecting part 103 or the first buckling part 101 and the second buckling part 102 are rotated to enable the first buckling part 101, the second buckling part 102 and the rotation connecting part 103 to rotate relatively, at the moment, the locking member 112 rotates from the accommodating end 1141 to the clamping end 1142, the locking member 112 abuts against the third clamping block 116 of the clamping plate 115, and the clamping part 118 slides on the clamping groove 108 to the abutting limiting protrusion 109 to form a locking structure among the rotation connecting part 103, the first buckling part 101 and the second buckling part 102.

The order of the above assembling and using can also be adjusted, that is, the first fastening part 101 can be connected to the rotary connecting part 103, the second fastening part 102 can be connected to the rotary connecting part 103, the locking parts 112 of the first fastening part 101 and the second fastening part 102 are all accommodated in the accommodating end 1141, and at this time, the rotary connecting part 103 is rotated, so that the locking part 112 is rotationally moved to the fastening end 1142, and the clip 118 slides to the abutting limiting protrusion 109 on the clip groove 108.

By adopting the design of the buckle assembly 100, the buckle assembly is simple and convenient, the stability of buckle connection can be improved with lower cost, the rigidity of the connection of the buckle assembly 100 is improved, the external larger stress can be borne, and meanwhile, the mode of mutual connection between the buckles before is not changed.

Referring to fig. 22, a snap fastener assembly (not labeled) is provided, which includes the surface snap 42 and a snap assembly 100 cooperating with the surface snap 42. A gap is left between the first protrusion 4223 of the surface fastener 42 and the fastener connector 422 to form a receiving space 120, and the receiving space 120 receives the locking member 112. The first fastening block 424 protrudes toward the first protrusion 4223 to form a fastening member 130, and the fastening member 130 is used for abutting against the locking member 112 to limit the movement of the locking member 112, so as to realize the matching connection between the fastening assembly 100 and the module unit 10.

When the buckle assembly 100 is connected with the module unit 10 in a matching manner, the locking member 112 correspondingly extends into the first connecting block 4221, and the relative rotation between the buckle assembly 100 and the module unit 10 is realized by rotating the locking member 112 and/or the buckle assembly 100. At this time, the locking member 112 rotates into the accommodating space 120 and abuts against the first protrusion 4223 and the fastening member 130 with the locking member 112, and the recess hole 119 on the fastening member 117 rotates to abut against the connection protrusion 4241, so that the fastening between the fastening assembly 100 and the module unit 10 can be realized. At this time, the first connection block 4221 is in contact with the second connection block 110, and the first electric connector 4212 is in contact with the second electric connector 111 to realize signal transmission.

The utility model discloses still further provide a modular robot, it includes that two above-mentioned at least modular unit 10 concatenations form, and it includes above-mentioned buckle fastening component, specifically can refer to aforementioned buckle fastening component description, does not describe again here. The snap fastening assembly may be used to connect any two or more of the modular unit 10, a wheel, a robotic arm, or a base.

The utility model discloses still further provide a robot, the robot includes a plurality of functional components and at least one as foretell buckle fastening components, functional component includes at least one as above-mentioned face buckle 42, buckle fastening components includes in the buckle subassembly 100. The buckle fastening component is used for connecting any two functional components, and the two functional components are indirectly connected through the buckle fastening component, namely, the two functional components are indirectly connected through the connection of the surface buckle 42 and the buckle component 100.

The modular robot 01 comprises any one or a combination of a position servo system, a speed servo system and a moment servo system.

Referring to fig. 23, a third embodiment of the present invention provides a module unit position servo system 200, the module unit 10 in the first embodiment of the present invention includes the module unit position servo system 200, the module unit position servo system 200 is used for detecting the position change between two rotating portions 201 in the module unit 10, two of the rotating portions 201 can rotate relatively, the module unit position servo system 200 includes the position sensor 202 disposed in any rotating portion 201 and a pair of kinematic pairs 210 capable of rotating circumferentially, the module unit position servo system 200 further includes a transmission assembly 211 and a connection assembly 212 connected to the two rotating portions 201, wherein the transmission assembly 211 and the connection assembly 212 constitute the kinematic pair 210. The position sensor 202 senses the rotation angle information between the kinematic pairs 210 and controls the rotation of the transmission assembly 211 in combination with the target angle command.

The connection assembly 212 further includes a magnet 203 corresponding to the position sensor 202, when the two rotating portions 201 rotate relatively, the magnet 203 can rotate relative to the position sensor 202, and rotation angle information between the two rotating portions 201 can be detected by detecting a rotation angle between the magnet 203 and the position sensor 202.

The connecting assembly 212 further includes a controller 204, the controller 204 is electrically connected to the position sensor 202, the rotation angle information detected by the position sensor 202 is transmitted to the controller 204, and the controller 204 transmits the corresponding control information to the transmission assembly 211.

The transmission assembly 211 includes a driving motor 241, the driving motor 241 is disposed in any one of the rotating portions 201, and the controller 204 controls a rotating speed of the driving motor 241 based on the rotation angle information detected by the position sensor 202 and a target angle command.

Referring to fig. 11 and 13, the transmission assembly 211 further includes at least two speed sensors 244 and a magnetic member 243 coaxially connected to the driving motor 241, the speed sensors 244 are disposed in a circumferential direction of the magnetic member 243, and the speed sensors 244 detect a change in magnetic poles of the magnetic member 243 to calculate a rotation speed of the driving motor 241 and determine whether the driving motor 241 is rotating forward or backward.

Referring to fig. 24, a fourth embodiment of the present invention provides a method 300 for controlling a modular unit position servo system, which includes the following steps:

s1: providing a driving motor, a pair of kinematic pairs capable of rotating in the circumferential direction and a position sensor;

s2: detecting the rotation angle information of the kinematic pair based on the position sensor and transmitting the rotation angle information to a controller;

s3: and the controller is used for controlling the driving motor by combining the current rotation angle information and the target angle instruction so as to set the rotation speed of the driving motor to move.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and all modifications, equivalents and improvements made within the principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A modular unit, characterized by: the module unit is the spheroid, the module unit includes two rotation portions that are the hemisphere type, be equipped with an at least buckle spare in the rotation portion, pass through the center of buckle spare and perpendicular to connect the perpendicular line of face with the axis of rotation portion is crossing, and crossing contained angle is 45.

2. The modular unit of claim 1, wherein: the number of the buckling pieces is even, and the buckling piece arrangement positions of the two rotating parts are mirror symmetry by taking the interface of the two rotating parts as a reference.

3. The modular unit of claim 2, wherein: the module unit also comprises a servo device which can drive at least one rotating part to rotate.

4. A modular unit as claimed in claim 3, characterized in that: the servo device comprises a controller and at least two speed sensors, wherein the speed sensors sense the relative position, the speed and the moment of the two rotating parts and transmit the relative position, the speed and the moment to the controller.

5. The modular unit of claim 4, wherein: the servo device comprises an angle sensor arranged in any rotating part and a magnet corresponding to the angle sensor, when the two rotating parts rotate, the magnet can rotate relative to the angle sensor, and rotation information between the two rotating parts is detected by detecting the rotation angle between the magnet and the angle sensor and is transmitted to the controller.

6. The modular unit of claim 5, wherein: the servo device further comprises a driving motor, the driving motor is arranged between any two rotating parts, and the controller controls the rotating speed of the driving motor based on the rotating angle information detected by the angle sensor and the target angle instruction.

7. The modular unit of claim 6, wherein: the servo device comprises at least two speed sensors and a magnetic part coaxially connected with the driving motor, the speed sensors are arranged in the circumferential direction of the magnetic part relatively, and the speed sensors are used for detecting the change of the magnetic poles of the magnetic part so as to calculate the rotating speed of the driving motor and judge the positive and negative rotation of the driving motor.

8. The modular unit of claim 1, wherein: the buckle piece is provided with a first contact, and signal communication can be realized through the contact between the first contact and the corresponding contact of the external module.

9. A modular robot, characterized by: comprising at least two modular units according to any of the claims 1-8, which are joined by means of the snap-in element.

10. The modular robot of claim 9, wherein: the modularized robot further comprises a buckle assembly, the buckle assembly comprises a first buckle part and a second buckle part which are arranged oppositely, the two module units are spliced through the buckle assembly, one module unit is connected to the first buckle part, and the other module unit is connected to the second buckle part.